Flow-Opt combines a flow-matching DiT model with a custom differentiable safety filter and learned initialization to enable fast centralized trajectory optimization for tens of robots.
Decentralized ilqr for cooperative trajectory planning of connected autonomous vehicles via dual consensus admm
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Flow-Opt: Scalable Centralized Multi-Robot Trajectory Optimization with Flow Matching and Differentiable Optimization
Flow-Opt combines a flow-matching DiT model with a custom differentiable safety filter and learned initialization to enable fast centralized trajectory optimization for tens of robots.